Humanoid motion generation system on HRP2-JSK for daily life environment
Humanoid motion generation system on HRP2-JSK for daily life environment
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DOI：
10.1109/icma.2005.1626828
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发表时间：
2005-07
期刊：
影响因子：
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通讯作者：
K. Okada;T. Ogura;A. Haneda;Junya Fujimoto;F. Gravot;Masayuki Inaba
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文献类型：
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作者：
K. Okada;T. Ogura;A. Haneda;Junya Fujimoto;F. Gravot;Masayuki Inaba
本文以厨房帮厨行为为例，从运动生成的角度描述了仿人机器人的软件系统。我们的软件由基于三维几何模型的动作/运动规划器等高级推理模块和包括三维视觉处理器、力操作控制器和行走控制器的运行时模块组成。我们讨论了基于高级运动和动作规划器的运动生成功能如何有助于各种现实世界中的人形任务，以及使用视觉传感器和力传感器基于感知的运动生成的作用。
This paper describes software system for a humanoid robot viewed from a motion generation aspect by taking kitchen helping behaviors as an example of a real world task. Our software consists of high level reasoning modules including 3D geometric model based action/motion planner and runtime modules contains 3D visual processor, force manipulation controller and walking controller. We discuss how a high level motion and action planner based motion generation functions contribute to various real world humanoid tasks and a role of perception based motion generation using a vision sensor and force sensors.